CoreSLAM : a SLAM Algorithm in less than 200 lines of C code

@inproceedings{Steux2009CoreSLAMA,
  title={CoreSLAM : a SLAM Algorithm in less than 200 lines of C code},
  author={Bruno Steux and Oussama El Hamzaoui},
  year={2009}
}
This paper presents a Laser-SLAM algorithm which has been programmed in less than 200 lines of Clanguage code. Our idea was to develop and implement a very simple SLAM algorithm that could be easily integrated into our particle-filter based localization subsystem. For our experiments, we have been using a homebrew robotic platform called MinesRover. It’s a six wheels robot fully equipped with sensors, including a Hokuyo URG04 laser scanner. A typical example of our experiments is presented… CONTINUE READING
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